CN118182676B - Multi-foot bionic robot - Google Patents
Multi-foot bionic robot Download PDFInfo
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- CN118182676B CN118182676B CN202410552572.4A CN202410552572A CN118182676B CN 118182676 B CN118182676 B CN 118182676B CN 202410552572 A CN202410552572 A CN 202410552572A CN 118182676 B CN118182676 B CN 118182676B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000012546 transfer Methods 0.000 claims description 27
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 239000000872 buffer Substances 0.000 claims description 22
- 239000002184 metal Substances 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000007306 turnover Effects 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 4
- 230000007547 defect Effects 0.000 abstract description 4
- 210000001699 lower leg Anatomy 0.000 description 71
- 210000003414 extremity Anatomy 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 210000002303 tibia Anatomy 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000009191 jumping Effects 0.000 description 4
- 239000000969 carrier Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of bionic robots, in particular to a multi-foot bionic robot, which comprises: the device comprises a plurality of bearing brackets, a plurality of gesture adjusting modules, a plurality of displacement modules, a controller and a communicator; the bearing brackets are sequentially arranged from front to back, and in any two adjacent bearing brackets, the tail end of one bearing bracket is rotationally connected with the head end of the other bearing bracket; the plurality of gesture adjusting modules are arranged on the plurality of bearing brackets and used for adjusting the overturning gesture of the plurality of bearing brackets; the plurality of pairs of displacement modules are respectively arranged on the plurality of bearing brackets and used for driving the bearing brackets to move; the controller is arranged on one of the bearing brackets and is respectively and electrically connected with the plurality of gesture adjusting modules and the plurality of displacement modules; the communicator is arranged on one of the bearing brackets, is electrically connected with the controller and is in wireless communication with the control equipment. The invention solves the defect of poor obstacle avoidance flexibility in the prior art, and has the characteristic of strong practicability.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a multi-foot bionic robot.
Background
"Bionic robot" refers to a robot that mimics living beings and works on biological characteristics. The goal is to achieve a particular task or function by mimicking the structure, function, and behavior of a biological system. These robots may have the appearance, movement, perception and cognitive capabilities of organisms enabling them to perform tasks in complex environments, such as exploring unknown areas, performing rescue tasks, etc.
In the prior art, chinese patent application publication No. CN117864270a discloses a six-foot locust jumping robot, which comprises a trunk, wherein front limbs, middle limbs and rear limbs are sequentially arranged on two sides of the trunk from front to back, a driving mechanism is arranged on the trunk, the driving mechanism comprises a stop unit and a trigger unit which are connected in a transmission manner, the stop unit is used for limiting the front limbs, the middle limbs and the rear limbs which finish the accumulation, and the trigger unit is used for releasing the stop unit from limiting the front limbs, the middle limbs and the rear limbs, so as to realize jumping.
For the six-foot locust jumping robot, the device adopts the integrated trunk, and when the robot is used for climbing over an obstacle with a certain height, the longitudinal movement flexibility is poor, and the defect of poor obstacle avoidance flexibility exists.
Disclosure of Invention
Aiming at the technical problem of poor obstacle avoidance flexibility of the six-foot locust jumping simulation robot in the prior art, the embodiment of the invention provides a multi-foot bionic robot, which comprises the following components: the device comprises a plurality of bearing brackets, a plurality of gesture adjusting modules, a plurality of displacement modules, a controller and a communicator;
The bearing brackets are sequentially arranged from front to back, and in any two adjacent bearing brackets, the tail end of one bearing bracket is rotationally connected with the head end of the other bearing bracket, and a rotating shaft at the rotational connection position between any two adjacent bearing brackets is arranged along the radial direction of the bearing bracket;
the plurality of gesture adjusting modules are arranged on the plurality of bearing brackets, and any gesture adjusting module is connected with two adjacent bearing brackets and used for adjusting the included angle between the adjacent bearing brackets;
The plurality of pairs of displacement modules are arranged on the plurality of bearing brackets, and any pair of displacement modules are respectively arranged on two sides of one bearing bracket and used for driving the bearing brackets to move;
The controller is arranged on one of the bearing brackets and is respectively and electrically connected with the plurality of gesture adjusting modules and the plurality of pairs of displacement modules;
The communicator is arranged on one of the bearing brackets, is electrically connected with the controller and is in wireless communication with external control equipment.
Further, the load bearing bracket comprises: the device comprises a pair of bearing pieces, a connecting rod, a pair of protecting pieces, a pair of connecting shafts and a pair of connecting holes;
The pair of bearing pieces are arranged in parallel, the pair of bearing pieces are respectively connected with one pair of displacement modules, and the pair of bearing pieces are positioned between the pair of displacement modules;
The connecting rod is arranged between the pair of bearing pieces, and two ends of the connecting rod are fixedly connected with the pair of bearing pieces respectively;
the pair of protection pieces are arranged on the pair of bearing pieces, one protection piece is fixedly arranged at the top of the pair of bearing pieces, and the other protection piece is fixedly arranged at the bottom of the pair of bearing pieces;
the pair of switching shafts are respectively and fixedly arranged at the head ends of the pair of bearing pieces, and the switching shafts are arranged along the radial direction of the bearing pieces;
The pair of transfer holes are respectively formed in the side walls of the pair of bearing pieces, the transfer holes are arranged along the radial direction of the bearing pieces, the transfer holes are positioned at the tail ends of the bearing pieces, in any two adjacent bearing supports, one pair of transfer shafts of one bearing support is respectively inserted into one pair of transfer holes of the other bearing support, and any transfer shaft is rotationally connected with the corresponding transfer hole.
Further, the gesture adjusting module comprises: the device comprises a shaft sleeve, a double-output shaft motor, an I-shaped wheel, a traction wire and a pair of torsion springs;
In any two adjacent bearing brackets, the shaft sleeve is movably sleeved on the connecting rod of one bearing bracket;
the double-output shaft motor is arranged between a pair of bearing pieces of the other bearing bracket, a pair of output ends of the double-output shaft motor are respectively and fixedly connected with the pair of bearing pieces, and the double-output shaft motor is electrically connected with the controller;
The spool is sleeved on the double-output-shaft motor, the spool is fixedly connected with the double-output-shaft motor, and the double-output-shaft motor drives the spool to coaxially rotate;
One end of the traction wire is fixedly connected with the shaft sleeve, and the other end of the traction wire is fixedly connected with the spool;
the pair of torsion springs are respectively sleeved on the pair of switching shafts, the torsion springs are positioned at the rotating connection part between any two adjacent bearing brackets, one end of each torsion spring is connected with one bearing bracket, and the other end of each torsion spring is connected with the other bearing bracket and is used for driving the bearing brackets to turn over and reset.
Further, the dual output motor is located between the connecting rod and the head end of the carrier bracket.
Further, the gesture adjusting module further comprises: an electromagnet and a magnetic metal piece;
The electromagnet is arranged at the head end of the bearing bracket positioned at the first position in the plurality of bearing brackets and is electrically connected with the controller;
The magnetic metal piece is arranged at the tail end of the bearing support at the tail position in the plurality of bearing supports, when the plurality of bearing supports are connected end to end, the plurality of bearing supports surround to form an annular chain structure, and the magnetic metal piece is in magnetic attraction connection with the electromagnet.
Further, the electromagnet includes: a magnetic adsorption mechanism and an assembly bracket;
The magnetic force adsorption mechanism is electrically connected with the controller, and is magnetically adsorbed and connected with the magnetic metal piece when the bearing brackets are connected end to form an annular chain structure;
the assembly bracket is fixedly arranged on the magnetic adsorption mechanism and is rotationally connected with a pair of switching shafts of the first bearing bracket in the plurality of bearing brackets.
Further, the magnetic metal piece includes: an adsorption part and an assembly part;
the assembly part is rotationally connected with a pair of transfer holes of the bearing brackets at the last position in the plurality of bearing brackets;
the adsorption part is fixedly arranged on the assembly part, and when a plurality of bearing brackets are connected end to form an annular chain-shaped structure, the adsorption part is connected with the electromagnet in a magnetic force adsorption way.
Further, the displacement module comprises: the device comprises an assembly plate, an attitude adjusting assembly, a main shank, a buffer assembly and an auxiliary shank;
The assembly plate is rotatably arranged on the side wall of one of the bearing brackets;
the gesture adjusting component is arranged on the assembly plate and the corresponding bearing bracket;
The main shank is movably arranged on one side of the assembly plate, is connected with the gesture adjusting assembly and is a hollow prism;
The buffer component is arranged in the inner cavity of the main shank, and is connected with the gesture adjusting component;
The auxiliary shank is arranged at the bottom end of the main shank, and the auxiliary shank is connected with the buffer component.
Further, the gesture adjustment subassembly includes: the device comprises an assembly window, a driving motor, a steering engine, a bearing seat, an electric telescopic rod, a swinging rod, a first limiting rod, a driving rod and a second limiting rod;
the assembly window is arranged on the side wall of one side of the main shank, penetrates through the outer wall of the main shank and is communicated with the inner cavity of the main shank, and is axially arranged along the main shank;
The driving motor is fixedly arranged on one of the bearing brackets, the output end of the driving motor is connected with the assembly plate, and the driving motor is electrically connected with the controller and is used for driving the assembly plate to rotate;
the steering engine is fixedly arranged on the assembly plate and is electrically connected with the controller;
the bearing seat is fixedly arranged on the assembly plate and is positioned on one side of the steering engine;
the tail end of the electric telescopic rod is hinged with the bearing seat, and the deflection direction of the electric telescopic rod is the same as the swing direction of the output end of the steering engine;
the tail end of the swinging rod is fixedly connected with the output end of the steering engine, and the head end of the swinging rod penetrates through the assembly window and stretches into the inner cavity of the main shank;
the first limiting rod is arranged at the head end of the swinging rod, the first limiting rod is positioned in the inner cavity of the main shank, the middle section of the first limiting rod is fixedly connected with the head end of the swinging rod, the first limiting rod is a cylinder, the first limiting rod is arranged along the radial direction of the main shank, and the length of the first limiting rod is larger than the width of the assembly window;
the tail end of the driving rod is fixedly connected with the output end of the electric telescopic rod, and the head end of the driving rod penetrates through the assembly window and stretches into the inner cavity of the main shank;
The second gag lever post sets up the head end at the actuating lever, and the second gag lever post is arranged in the inner chamber of main shin festival, and the second gag lever post is arranged between first gag lever post and the vice shin festival, and the middle section and the actuating lever fixed connection of second gag lever post, second gag lever post are the cylinder, and the radial setting of main shin festival is followed to the second gag lever post, and the length of second gag lever post is greater than the width of assembly window.
Further, the buffer assembly includes: the assembly hole, a pair of first spheres, a first spring, a gasket, a screw hole, a second sphere and a second spring;
The assembly hole is formed in the end face of the bottom end of the main shank, penetrates through the outer wall of the main shank and is communicated with the inner cavity of the main shank;
The auxiliary shank consists of a supporting part and a connecting part, the supporting part is arranged at the bottom end of the connecting part, the supporting part is a cone, the connecting part is a screw rod, and the top end of the connecting part penetrates through the assembly hole and stretches into the inner cavity of the main shank;
The pair of first spheres are movably arranged in the inner cavity of the main shank, the pair of first spheres are positioned between the first limiting rod and the second limiting rod, one first sphere is abutted with the outer surface of the first limiting rod, the other first sphere is abutted with the outer surface of the second limiting rod, and the outer diameter of the first sphere is not smaller than the width of the assembly window;
The first spring is arranged in the inner cavity of the main shank, one end of the first spring is connected with one of the first spheres, and the other end of the first spring is connected with the other first sphere;
the gasket is movably arranged in the inner cavity of the main shank, and the gasket is positioned between the second limiting rod and the assembly hole;
the second sphere is movably arranged in the inner cavity of the main shank, the second sphere is positioned between the gasket and the second limiting rod, the second sphere is abutted with the second limiting rod, and the outer diameter of the second sphere is not smaller than the width of the assembly window;
the screw hole is formed in the gasket, and the connecting part of the auxiliary shank is inserted into the screw hole and is in threaded connection with the screw hole;
the second spring is arranged in the inner cavity of the main shank, one end of the second spring is connected with the top end of the connecting part of the auxiliary shank, and the other end of the second spring is connected with the second sphere.
The multi-foot bionic robot provided by the embodiment of the invention has the following beneficial effects:
1. The trunk main part of this device mainly comprises a plurality of bearing support and connects gradually, forms multistage chain structure to through setting up a plurality of appearance module of transferring on a plurality of bearing support, be used for adjusting a plurality of bearing support flip angle, make a plurality of bearing support of this device can upwards lift when crossing the barrier, so that the barrier that crosses has strengthened the obstacle avoidance flexibility of this device, solve the poor defect of obstacle avoidance flexibility that exists among the prior art.
2. The device is provided with the plurality of gesture adjusting modules on the plurality of bearing brackets, and the two sides of each bearing bracket are respectively provided with one displacement module, so that the device can be adjusted into a circular chain-shaped structure through adjusting the integral gesture when moving on a downhill road, so as to roll on the downhill road, the moving speed of the device is improved, the energy consumed when moving on the downhill road is saved, and the practicability of the device is enhanced.
3. The device is provided with the buffer component in the inner cavity of the main shank so as to buffer the bearing support, so that the stability of the device in rolling displacement on a downhill road is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the technology claimed.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention in an extended state;
FIG. 2 is a detail view of a load bearing bracket according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of a portion of the area A of FIG. 1;
fig. 4 is a schematic exploded view of a gesture adjustment module according to an embodiment of the present invention;
FIG. 5 is a detail view of an electromagnet according to an embodiment of the present invention;
FIG. 6 is a part drawing of a magnetic metal piece according to an embodiment of the present invention;
FIG. 7 is an assembled schematic view of a displacement module according to an embodiment of the present invention;
FIG. 8 is an assembled schematic view of a cushioning assembly according to an embodiment of the present invention (with the main shank being perspective);
fig. 9 is a detail view of a primary shank according to an embodiment of the invention;
FIG. 10 is a perspective view of a collapsed toroidal chain structure attitude in accordance with an embodiment of the present invention;
The attached drawings are used for identifying and describing:
1-carrying bracket: 11-bearing piece, 12-connecting rod, 13-protecting piece, 14-switching shaft and 15-switching hole.
And the gesture adjusting module is used for: the device comprises a shaft sleeve 21, a double-output shaft motor 22, a spool 23, a traction wire 24, an electromagnet 25 (251-magnetic force adsorption mechanism 252-assembly bracket) and a magnetic metal piece 26 (261-adsorption part 262-assembly part).
3-Displacement module: 31-assembly plate, attitude adjusting component (321-assembly window, 322-driving motor, 323-steering engine, 324-bearing seat, 325-electric telescopic rod, 326-swinging rod, 327-first limit rod, 328-driving rod, 329-second limit rod), 33-main shank, buffer component (341-assembly hole, 342-first sphere, 343-first spring, 344-gasket, 345-second sphere, 346-second spring), 35-auxiliary shank (351-supporting part, 352-connecting part).
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings, which further illustrate the present invention.
The foregoing and other features, aspects and advantages of the present invention will become more apparent from the following detailed description of the embodiments, read in conjunction with the accompanying drawings. The directional terms mentioned in the following embodiments are, for example: upper, lower, left, right, front or rear, etc., are merely references to the directions of the drawings. Thus, directional terminology is used for the purpose of illustration and is not intended to be limiting of the invention, and furthermore, like reference numerals refer to like elements throughout the embodiments.
Firstly, a multi-legged bionic robot according to an embodiment of the present invention will be described with reference to fig. 1 to 10, and is applied to rescue inspection exploration tasks, and has a wide application scenario.
As shown in fig. 1,3 and 4, the multi-foot bionic robot according to the embodiment of the invention includes: the device comprises a plurality of bearing brackets 1, a plurality of gesture adjusting modules, a plurality of pairs of displacement modules 3, a controller (not shown in the figure) and a communicator (not shown in the figure).
Specifically, as shown in fig. 1,3 and 4, a plurality of bearing brackets 1 are sequentially arranged from front to back, in any two adjacent bearing brackets 1, the tail end of one bearing bracket 1 is rotationally connected with the head end of the other bearing bracket 1, and a rotating shaft at the rotational connection position between any two adjacent bearing brackets 1 is arranged along the radial direction of the bearing bracket 1; the plurality of gesture adjusting modules are arranged on the plurality of bearing brackets 1, and any gesture adjusting module is connected with two adjacent bearing brackets 1 and used for adjusting the included angle between the adjacent bearing brackets 1; the plurality of pairs of displacement modules 3 are arranged on the plurality of bearing brackets 1, and any pair of displacement modules 3 are respectively arranged on two sides of one bearing bracket 1 and used for driving the bearing bracket 1 to move; the controller is arranged on one of the bearing brackets 1 and is respectively and electrically connected with a plurality of gesture adjusting modules and a plurality of pairs of displacement modules 3; the communicator is arranged on one of the bearing brackets 1, is electrically connected with the controller and is in wireless communication with external control equipment; preferably, one of the bearing brackets 1 is provided with a camera, the camera is electrically connected with the controller and used for collecting external environment image information, and the external environment image information is transmitted in real time through the controller and the communicator and stored in external control equipment, so that a user can conveniently use the device to explore the internal environment of ruins with narrow disaster site space.
Further, as shown in fig. 1 and 2, the carrying bracket 1 includes: a pair of bearing members 11, a connecting rod 12, a pair of protecting members 13, a pair of connecting shafts 14 and a pair of connecting holes 15; the pair of carrying pieces 11 are arranged in parallel, the pair of carrying pieces 11 are respectively connected with one pair of displacement modules 3, and the pair of carrying pieces 11 are positioned between the pair of displacement modules 3; the connecting rod 12 is arranged between the pair of bearing pieces 11, and two ends of the connecting rod 12 are fixedly connected with the pair of bearing pieces 11 respectively; a pair of shielding members 13 are provided on the pair of carriers 11, one shielding member 13 being fixedly provided on the top of the pair of carriers 11, the other shielding member 13 being fixedly provided on the bottom of the pair of carriers 11; the pair of adapter shafts 14 are fixedly arranged at the head ends of the pair of bearing pieces 11 respectively, and the adapter shafts 14 are arranged along the radial direction of the bearing pieces 11; the pair of transfer holes 15 are respectively formed on the side walls of the pair of bearing pieces 11, the transfer holes 15 are arranged along the radial direction of the bearing pieces 11, the transfer holes 15 are positioned at the tail end of the bearing pieces 11, in any two adjacent bearing brackets 1, a pair of transfer shafts 14 of one bearing bracket 1 are respectively inserted into a pair of transfer holes 15 of the other bearing bracket 1, and any transfer shaft 14 is rotationally connected with the corresponding transfer hole 15.
Further, as shown in fig. 1 to 4, the gesture adjusting module includes: a shaft sleeve 21, a double-output shaft motor 22, a spool 23, a traction wire 24 and a pair of torsion springs (not shown in the figure); in any two adjacent bearing brackets 1, a shaft sleeve 21 is movably sleeved on a connecting rod 12 of one bearing bracket 1; the double-output-shaft motor 22 is arranged between a pair of bearing pieces 11 of the other bearing bracket 1, a pair of output ends of the double-output-shaft motor 22 are respectively and fixedly connected with the pair of bearing pieces 11, and the double-output-shaft motor 22 is electrically connected with the controller; spool 23 is sleeved on double-output shaft motor 22, spool 23 is fixedly connected with double-output shaft motor 22, and double-output shaft motor 22 drives spool 23 to coaxially rotate; one end of the traction wire 24 is fixedly connected with the shaft sleeve 21, and the other end of the traction wire 24 is fixedly connected with the spool 23; the pair of torsion springs are respectively sleeved on the pair of adapter shafts 14, the torsion springs are positioned at the rotary joint between any two adjacent bearing brackets 1, one end of each torsion spring is connected with one bearing bracket 1, and the other end of each torsion spring is connected with the other bearing bracket 1 and is used for driving the bearing brackets 1 to turn over and reset, so that a plurality of bearing brackets 1 are kept in a linear arrangement posture from front to back.
Further, as shown in fig. 3 and 4, a double-output shaft motor 22 is located between the connecting rod 12 and the head end of the carrier bracket 1.
Further, as shown in fig. 1 and 10, the gesture adjusting module further includes: an electromagnet 25 and a magnetic metal piece 26; the electromagnet 25 is arranged at the head end of the first bearing bracket 1 in the plurality of bearing brackets 1, and the electromagnet 25 is electrically connected with the controller; the magnetic metal piece 26 is arranged at the tail end of the bearing support 1 at the last position in the plurality of bearing supports 1, when the plurality of bearing supports 1 are connected end to end, the plurality of bearing supports 1 are surrounded to form an annular chain structure, the magnetic metal piece 26 is magnetically adsorbed and connected with the electromagnet 25, and in the embodiment, the specific value of the magnetic metal piece 26 is a device formed by processing magnetic metal materials, and the device can be attracted by the magnet.
Further, as shown in fig. 1, 5, and 10, the electromagnet 25 includes: a magnetic force adsorption mechanism 251 and an assembly bracket 252; the magnetic force adsorption mechanism 251 is electrically connected with the controller, and magnetic force is mainly generated by the magnetic force adsorption mechanism 251 after the electromagnet 25 is electrified, and when a plurality of bearing brackets 1 are connected end to form an annular chain-shaped structure, the magnetic force adsorption mechanism 251 is in magnetic force adsorption connection with the magnetic metal piece 26; the assembly bracket 252 is fixedly arranged on the magnetic adsorption mechanism 251, and the assembly bracket 252 is rotatably connected with a pair of adapter shafts 14 of the first bearing bracket 1 among the bearing brackets 1.
Further, as shown in fig. 1, 6, 10, the magnetic metal piece 26 includes: an adsorption portion 261 and a fitting portion 262; the assembly part 262 is rotationally connected with a pair of transfer holes 15 of the bearing brackets 1 positioned at the last position in the plurality of bearing brackets 1; the adsorption part 261 is fixedly arranged on the assembly part 262, and when a plurality of bearing brackets 1 are connected end to form an annular chain-shaped structure, the adsorption part 261 is magnetically adsorbed and linked with the electromagnet 25.
Further, as shown in fig. 1, 7, 8, the displacement module 3 includes: the assembly plate 31, the posture adjusting assembly, the main shank 33, the buffer assembly and the auxiliary shank 35; the assembly plate 31 is rotatably arranged on the side wall of one of the bearing brackets 1; the gesture adjusting component is arranged on the assembly plate 31 and the corresponding bearing bracket 1; the main shank 33 is movably arranged on one side of the assembly plate 31, the main shank 33 is connected with the posture adjusting assembly, and the main shank 33 is a hollow prism; the buffer component is arranged in the inner cavity of the main shank 33 and is connected with the gesture adjusting component; the secondary tibial segment 35 is disposed at the bottom end of the primary tibial segment 33, and the secondary tibial segment 35 is coupled to the cushioning assembly.
Further, as shown in fig. 1, 7 to 9, the posture adjustment assembly includes: the assembly window 321, the driving motor 322, the steering engine 323, the bearing seat 324, the electric telescopic rod 325, the swinging rod 326, the first limiting rod 327, the driving rod 328 and the second limiting rod 329; the assembly window 321 is arranged on the side wall of one side of the main shank 33, the assembly window 321 penetrates through the outer wall of the main shank 33 and is communicated with the inner cavity of the main shank 33, and the assembly window 321 is axially arranged along the main shank 33; the driving motor 322 is fixedly arranged on one of the bearing brackets 1, the output end of the driving motor 322 is connected with the assembly plate 31, and the driving motor 322 is electrically connected with the controller and is used for driving the assembly plate 31 to rotate; the steering engine 323 is fixedly arranged on the assembly plate 31, and the steering engine 323 is electrically connected with the controller; the bearing seat 324 is fixedly arranged on the assembly plate 31, and the bearing seat 324 is positioned on one side of the steering engine 323; the tail end of the electric telescopic rod 325 is hinged with the bearing seat 324, and the deflection direction of the electric telescopic rod 325 is the same as the swing direction of the output end of the steering engine 323; the tail end of the swinging rod 326 is fixedly connected with the output end of the steering engine 323, and the head end of the swinging rod 326 passes through the assembly window 321 and stretches into the inner cavity of the main shank 33; the first limiting rod 327 is arranged at the head end of the swinging rod 326, the first limiting rod 327 is positioned in the inner cavity of the main shank 33, the middle section of the first limiting rod 327 is fixedly connected with the head end of the swinging rod 326, the first limiting rod 327 is a cylinder, the first limiting rod 327 is arranged along the radial direction of the main shank 33, and the length of the first limiting rod 327 is greater than the width of the assembly window 321; the tail end of the driving rod 328 is fixedly connected with the output end of the electric telescopic rod 325, and the head end of the driving rod 328 passes through the assembly window 321 and stretches into the inner cavity of the main shank 33; the second gag lever post 329 sets up the head end at the actuating lever 328, and the second gag lever post 329 is arranged in the inner chamber of main shin festival 33, and second gag lever post 329 is arranged in between first gag lever post 327 and the vice shin festival 35, and the middle section and the actuating lever 328 fixed connection of second gag lever post 329, second gag lever post 329 are the cylinder, and second gag lever post 329 radially sets up along main shin festival 33, and the length of second gag lever post 329 is greater than the width of assembly window 321.
Further, as shown in fig. 1, 7 to 9, the buffer assembly includes: a fitting hole 341, a pair of first balls 342, a first spring 343, a spacer 344, a screw hole (not shown), a second ball 345 and a second spring 346; the assembly hole 341 is formed in the end face of the bottom end of the main shank 33, and the assembly hole 341 penetrates through the outer wall of the main shank 33 and is communicated with the inner cavity of the main shank 33; the auxiliary shank 35 consists of a supporting part 351 and a connecting part 352, wherein the supporting part 351 is arranged at the bottom end of the connecting part 352, the supporting part 351 is a cone, the connecting part 352 is a screw rod, and the top end of the connecting part 352 penetrates through the assembly hole 341 to extend into the inner cavity of the main shank 33; the pair of first spheres 342 are movably arranged in the inner cavity of the main shank 33, the pair of first spheres 342 are positioned between the first limiting rod 327 and the second limiting rod 329, one first sphere 342 is abutted with the outer surface of the first limiting rod 327, the other first sphere 342 is abutted with the outer surface of the second limiting rod 329, and the outer diameter of the first sphere 342 is not smaller than the width of the assembly window 321; the first spring 343 is arranged in the inner cavity of the main shank 33, one end of the first spring 343 is connected with one of the first spheres 342, and the other end of the first spring 343 is connected with the other first sphere 342; the gasket 344 is movably arranged in the inner cavity of the main shank 33, and the gasket 344 is positioned between the second limit rod 329 and the assembly hole 341; the second sphere 345 is movably arranged in the inner cavity of the main shank 33, the second sphere 345 is positioned between the gasket 344 and the second limiting rod 329, the second sphere 345 is abutted with the second limiting rod 329, and the outer diameter of the second sphere 345 is not smaller than the width of the assembly window 321; the screw hole is formed in the gasket 344, and the connecting part 352 of the secondary tibia 35 is inserted into the screw hole and is in threaded connection with the screw hole; a second spring 346 is provided in the inner cavity of the main shank 33, one end of the second spring 346 is connected to the tip of the connecting portion 352 of the sub-shank 35, and the other end of the second spring 346 is connected to the second ball 345.
When the equipment runs, a plurality of pairs of displacement modules 3 arranged on a plurality of bearing brackets 1 run alternately to drive the device to move.
The displacement module 3 works as follows: firstly, the steering engine 323 drives the swinging rod 326 to swing upwards, the swinging rod 326 drives the main shank 33 and the auxiliary shank 35 to lift upwards for a certain degree, then the driving motor 322 drives the assembly plate 31 to deflect forwards for a certain degree, then the steering engine 323 drives the swinging rod 326 to swing downwards, the swinging rod 326 drives the main shank 33 and the auxiliary shank 35 to enable the bottom end of the auxiliary shank 35 to tread on the ground to support the bearing bracket 1, after that, the driving motor 322 drives the assembly plate 31 to deflect backwards for a certain degree again to enable external force to be applied to the ground through the main shank 33 and the auxiliary shank 35, the reaction force fed back to the auxiliary shank 35 and the main shank 33 by the ground is utilized to drive the bearing bracket 1 to move forwards, in the process, the electric telescopic rod 325 drives the driving rod 328 to extend outwards or retract to adjust the inclination posture of the main shank 33 and the auxiliary shank 35, the distance between the bottom ends of the auxiliary shank 35 of any pair of the shifting modules 3 is kept within a certain range, and the plurality of bearing brackets 1 can be kept stable under alternate operation of the shifting modules 3.
The buffer component which is arranged in the inner cavity of the main shank 33 and connected with the gesture adjusting component and the auxiliary shank 35 in the moving process of the device buffers the device, and the working principle is as follows: when the bottom end of the secondary tibia 35 is stepped on the ground, part of the weight of the plurality of bearing brackets 1 acts on the first spring 343 and the second spring 346 through the swinging rod 326, the first limiting rod 327, the driving rod 328 and the second limiting rod 329, and when the device moves, the first spring 343 and the second spring 346 buffer the device; secondly, the user can adjust the buffer hardness of the buffer assembly according to the weight of the bearing bracket 1 carrying the external device, that is, by rotating the secondary tibia 35, the length of the connecting portion 352 of the secondary tibia 35 extending into the inner cavity of the main tibia 33 is increased, so as to compress the first spring 343 and the second spring 346, and the elasticity of the first spring 343 and the second spring 346 is increased, so as to achieve the purpose of adjusting the buffer hardness of the buffer assembly.
When the obstacle is overturned in the moving process of the device, the device can upwards lift the part of the bearing module by a certain angle through the plurality of gesture adjusting modules, so that the device can smoothly overtake the obstacle with a certain height, and the working principle of the gesture adjusting module is as follows: the spool 23 is driven by the double-output-shaft motor 22 to rotate positively, the spool 23 winds the traction wire 24, the shaft sleeve 21 is pulled by the traction wire 24, so that the front bearing support 1 is driven to overturn upwards by a certain angle, otherwise, when the spool 23 is driven by the double-output-shaft motor 22 to rotate reversely, the spool 23 winds the traction wire 24, and the shaft sleeve 21 is pulled by the traction wire 24, so that the front bearing support 1 is driven to overturn downwards by a certain angle.
As shown in fig. 10, when the device moves on a downhill road, the device can drive the bearing brackets 1 to turn over in the same direction by a certain angle through the bearing brackets 1, so that the head end of the bearing bracket 1 at the head is connected with the tail end of the bearing bracket 1 at the tail end, then the electromagnet 25 starts to adsorb and fix the magnetic metal piece 26, the device integrally forms a circular chain-shaped structure, and supports by means of the displacement modules 3 arranged on the bearing brackets 1, and rolls along the downhill road so as to improve the moving speed of the device.
Above, the multi-foot bionic robot according to the embodiment of the invention is described with reference to fig. 1 to 10, and has the following beneficial effects:
1. The trunk main part of this device mainly comprises a plurality of bearing support and connects gradually, forms multistage chain structure to through setting up a plurality of appearance module of transferring on a plurality of bearing support, be used for adjusting a plurality of bearing support flip angle, make a plurality of bearing support of this device can upwards lift when crossing the barrier, so that the barrier that crosses has strengthened the obstacle avoidance flexibility of this device, solve the poor defect of obstacle avoidance flexibility that exists among the prior art.
2. The device is provided with the plurality of gesture adjusting modules on the plurality of bearing brackets, and the two sides of each bearing bracket are respectively provided with one displacement module, so that the device can be adjusted into a circular chain-shaped structure through adjusting the integral gesture when moving on a downhill road, so as to roll on the downhill road, the moving speed of the device is improved, the energy consumed when moving on the downhill road is saved, and the practicability of the device is enhanced.
3. The device is provided with the buffer component in the inner cavity of the main shank so as to buffer the bearing support, so that the stability of the device in rolling displacement on a downhill road is improved.
It should be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (5)
1. A multi-legged bionic robot, comprising: the device comprises a plurality of bearing brackets, a plurality of gesture adjusting modules, a plurality of displacement modules, a controller and a communicator;
The bearing brackets are sequentially arranged from front to back, the tail end of one bearing bracket is rotationally connected with the head end of the other bearing bracket in any two adjacent bearing brackets, and a rotating shaft at the rotational connection position between any two adjacent bearing brackets is arranged along the radial direction of the bearing bracket;
the plurality of gesture adjusting modules are arranged on the plurality of bearing brackets, any gesture adjusting module is connected with two adjacent bearing brackets and used for adjusting the included angle between the adjacent bearing brackets;
The plurality of pairs of displacement modules are arranged on the plurality of bearing brackets, and any pair of displacement modules are respectively arranged on two sides of one bearing bracket and used for driving the bearing brackets to move;
The controller is arranged on one of the bearing brackets and is respectively and electrically connected with the plurality of gesture adjusting modules and the plurality of pairs of displacement modules;
The communicator is arranged on one of the bearing brackets, is electrically connected with the controller and is in wireless communication with external control equipment;
The bearing bracket comprises: the device comprises a pair of bearing pieces, a connecting rod, a pair of protecting pieces, a pair of connecting shafts and a pair of connecting holes;
The pair of bearing pieces are arranged in parallel, the pair of bearing pieces are respectively connected with one pair of displacement modules, and the pair of bearing pieces are positioned between one pair of displacement modules;
the connecting rod is arranged between the pair of bearing pieces, and two ends of the connecting rod are fixedly connected with the pair of bearing pieces respectively;
The pair of protection pieces are arranged on the pair of bearing pieces, one protection piece is fixedly arranged at the top of the pair of bearing pieces, and the other protection piece is fixedly arranged at the bottom of the pair of bearing pieces;
the pair of transfer shafts are respectively and fixedly arranged at the head ends of the pair of bearing pieces, and the transfer shafts are arranged along the radial direction of the bearing pieces;
The pair of transfer holes are respectively formed in the side walls of the pair of bearing pieces, the transfer holes are arranged along the radial direction of the bearing pieces, the transfer holes are positioned at the tail ends of the bearing pieces, in any two adjacent bearing brackets, one pair of transfer shafts of one bearing bracket are respectively inserted into one pair of transfer holes of the other bearing bracket, and any transfer shaft is in rotary connection with the corresponding transfer hole;
the gesture adjusting module comprises: the device comprises a shaft sleeve, a double-output shaft motor, an I-shaped wheel, a traction wire and a pair of torsion springs;
In any two adjacent bearing brackets, the shaft sleeve is movably sleeved on the connecting rod of one bearing bracket;
The double-output-shaft motor is arranged between the pair of bearing pieces of the other bearing bracket, a pair of output ends of the double-output-shaft motor are respectively and fixedly connected with the pair of bearing pieces, and the double-output-shaft motor is electrically connected with the controller;
The spool is sleeved on the double-output-shaft motor, the spool is fixedly connected with the double-output-shaft motor, and the double-output-shaft motor drives the spool to coaxially rotate;
one end of the traction wire is fixedly connected with the shaft sleeve, and the other end of the traction wire is fixedly connected with the spool;
The pair of torsion springs are respectively sleeved on the pair of adapter shafts, the torsion springs are positioned at the rotary joint between any two adjacent bearing brackets, one end of each torsion spring is connected with one bearing bracket, and the other end of each torsion spring is connected with the other bearing bracket and is used for driving the bearing brackets to turn over and reset;
The displacement module comprises: the device comprises an assembly plate, an attitude adjusting assembly, a main shank, a buffer assembly and an auxiliary shank;
The assembly plate is rotatably arranged on the side wall of one of the bearing brackets;
The gesture adjusting component is arranged on the assembly plate and the corresponding bearing bracket;
The main shank is movably arranged on one side of the assembly plate, the main shank is connected with the gesture adjusting assembly, and the main shank is a hollow prism;
the buffer component is arranged in the inner cavity of the main shank, and is connected with the gesture adjusting component;
The auxiliary shank is arranged at the bottom end of the main shank, and the auxiliary shank is connected with the buffer component;
the gesture adjusting component comprises: the device comprises an assembly window, a driving motor, a steering engine, a bearing seat, an electric telescopic rod, a swinging rod, a first limiting rod, a driving rod and a second limiting rod;
The assembly window is arranged on the side wall of one side of the main shank, penetrates through the outer wall of the main shank and is communicated with the inner cavity of the main shank, and the assembly window is arranged along the axial direction of the main shank;
the driving motor is fixedly arranged on one of the bearing brackets, the output end of the driving motor is connected with the assembly plate, and the driving motor is electrically connected with the controller and used for driving the assembly plate to rotate;
The steering engine is fixedly arranged on the assembly plate and is electrically connected with the controller;
the bearing seat is fixedly arranged on the assembly plate and is positioned on one side of the steering engine;
The tail end of the electric telescopic rod is hinged with the bearing seat, and the deflection direction of the electric telescopic rod is the same as the swing direction of the output end of the steering engine;
the tail end of the swinging rod is fixedly connected with the output end of the steering engine, and the head end of the swinging rod penetrates through the assembly window and stretches into the inner cavity of the main shank;
The first limiting rod is arranged at the head end of the swinging rod, the first limiting rod is positioned in the inner cavity of the main shank, the middle section of the first limiting rod is fixedly connected with the head end of the swinging rod, the first limiting rod is a cylinder, the first limiting rod is arranged along the radial direction of the main shank, and the length of the first limiting rod is larger than the width of the assembly window;
the tail end of the driving rod is fixedly connected with the output end of the electric telescopic rod, and the head end of the driving rod penetrates through the assembly window and stretches into the inner cavity of the main shank;
The second limiting rod is arranged at the head end of the driving rod, the second limiting rod is positioned in the inner cavity of the main shank, the second limiting rod is positioned between the first limiting rod and the auxiliary shank, the middle section of the second limiting rod is fixedly connected with the driving rod, the second limiting rod is a cylinder, the second limiting rod is arranged along the radial direction of the main shank, and the length of the second limiting rod is larger than the width of the assembly window;
the cushioning assembly includes: the assembly hole, a pair of first spheres, a first spring, a gasket, a screw hole, a second sphere and a second spring;
The assembly Kong Kaishe is arranged on the end face of the bottom end of the main shank, and the assembly hole penetrates through the outer wall of the main shank and is communicated with the inner cavity of the main shank;
The auxiliary shank consists of a supporting part and a connecting part, the supporting part is arranged at the bottom end of the connecting part, the supporting part is a cone, the connecting part is a screw rod, and the top end of the connecting part penetrates through the assembly hole and stretches into the inner cavity of the main shank;
The pair of first spheres are movably arranged in the inner cavity of the main shank, the pair of first spheres are positioned between the first limiting rod and the second limiting rod, one of the first spheres is abutted with the outer surface of the first limiting rod, the other first sphere is abutted with the outer surface of the second limiting rod, and the outer diameter of the first spheres is not smaller than the width of the assembly window;
The first spring is arranged in the inner cavity of the main shank, one end of the first spring is connected with one of the first spheres, and the other end of the first spring is connected with the other first sphere;
the gasket is movably arranged in the inner cavity of the main shank, and the gasket is positioned between the second limiting rod and the assembly hole;
The second sphere is movably arranged in the inner cavity of the main shank, the second sphere is positioned between the gasket and the second limiting rod, the second sphere is abutted with the second limiting rod, and the outer diameter of the second sphere is not smaller than the width of the assembly window;
The screw hole is formed in the gasket, and the connecting part of the auxiliary shank is inserted into the screw hole and is in threaded connection with the screw hole;
The second spring is arranged in the inner cavity of the main shank, one end of the second spring is connected with the top end of the connecting part of the auxiliary shank, and the other end of the second spring is connected with the second sphere.
2. The multi-foot biomimetic robot of claim 1, wherein the dual-out axis motor is located between the connecting rod and the head end of the carrier bracket.
3. The multi-foot biomimetic robot of claim 1, wherein the gesture adjustment module further comprises: an electromagnet and a magnetic metal piece;
The electromagnet is arranged at the head end of the bearing bracket positioned at the first position in the plurality of bearing brackets, and is electrically connected with the controller;
The magnetic metal piece is arranged at the tail end of the bearing support which is positioned at the last position in the plurality of bearing supports, when the plurality of bearing supports are connected end to end, the plurality of bearing supports surround to form an annular chain structure, and the magnetic metal piece is in magnetic attraction connection with the electromagnet.
4. The multi-foot biomimetic robot as recited in claim 3, wherein said electromagnet comprises: a magnetic adsorption mechanism and an assembly bracket;
The magnetic force adsorption mechanism is electrically connected with the controller, and is magnetically adsorbed and connected with the magnetic metal piece when the bearing brackets are connected end to form an annular chain structure;
the assembly bracket is fixedly arranged on the magnetic adsorption mechanism, and is rotationally connected with the pair of transfer shafts of the bearing bracket positioned at the first position in the plurality of bearing brackets.
5. The multi-foot biomimetic robot of claim 3, wherein the magnetic metallic member comprises: an adsorption part and an assembly part;
the assembly part is rotationally connected with the pair of transfer holes of the bearing brackets at the last position in the plurality of bearing brackets;
The adsorption part is fixedly arranged on the assembly part, and when the bearing brackets are connected end to form an annular chain structure, the adsorption part is magnetically adsorbed and linked with the electromagnet.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113408784A (en) * | 2021-05-18 | 2021-09-17 | 华中科技大学 | Multi-robot transfer cooperative assembly method and equipment |
| CN216730506U (en) * | 2022-01-21 | 2022-06-14 | 上海砾烽智能科技有限公司 | Rocket engine assembling vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110466635B (en) * | 2019-09-12 | 2020-08-07 | 浙江万里学院 | Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism |
| CN112057166A (en) * | 2020-09-24 | 2020-12-11 | 中国科学院自动化研究所 | Experimental system and method for simulating skull surgery |
| KR102676979B1 (en) * | 2021-12-17 | 2024-06-19 | 고려대학교 산학협력단 | Joint robot with adjustable posture maintenance function |
| CN217578085U (en) * | 2021-12-28 | 2022-10-14 | 上海砾烽智能科技有限公司 | Wheel reduction assembly vehicle |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113408784A (en) * | 2021-05-18 | 2021-09-17 | 华中科技大学 | Multi-robot transfer cooperative assembly method and equipment |
| CN216730506U (en) * | 2022-01-21 | 2022-06-14 | 上海砾烽智能科技有限公司 | Rocket engine assembling vehicle |
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